Endoscope system

Abstract

The invention relates to an endoscope system, which comprises a magnetic signal transmitting and receiving device; the positioning navigation device is mounted at the top end of the endoscope capable of entering the tissue cavity of the patient; the control device is respectively connected with the magnetic signal transmitting and receiving device and the positioning and navigation device, and is used for determining the position and posture of the key part of the patient based on the magnetic field signal obtained by the magnetic signal transmitting and receiving device, and constructing a three-dimensional model of the key part of the patient according to the position and posture of the key part of the patient; determining state parameters of the endoscope in the tissue cavity of the patient according to the positioning and navigation signal obtained by the positioning and navigation device, and displaying the state parameters in the three-dimensional model; wherein the state parameters comprise the position and the direction, and therefore the positioning precision can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of endoscopes, and in particular to an endoscope system. Background Art

[0002] With the development of medical technology, endoscopic systems have been widely used in various minimally invasive surgeries, such as heart surgery, liver, gallbladder, pancreas, spleen and kidney surgery, etc. During this process, the endoscopic system not only provides doctors with a clear field of vision, but also can reduce the area of ​​intraoperative trauma and improve the patient's postoperative recovery effect.

[0003] In the prior art, the position of the endoscope in the patient's body is generally determined by a positioning sensor. However, this method at least has the problem of low positioning accuracy. Summary of the invention

[0004] 1. Technical issues to be resolved

[0005] In view of the above-mentioned shortcomings and deficiencies of the prior art, the present invention provides an endoscope system, which solves the technical problem of low positioning accuracy in the prior art.

[0006] (II) Technical solution

[0007] In order to achieve the above object, the main technical solutions adopted by the present invention include:

[0008] An embodiment of the present invention provides an endoscope system, comprising:

[0009] Magnetic signal transmitting and receiving device;

[0010] A positioning navigation device is installed on the top of an endoscope capable of entering the patient's tissue cavity;

[0011] The control device is connected to the magnetic signal transmitting and receiving device and the positioning and navigation device respectively. The control device is used to determine the position and posture of the patient's key parts based on the magnetic field signal obtained by the magnetic signal transmitting and receiving device, and to construct a three-dimensional model of the patient's key parts according to the position and posture of the patient's key parts, and to determine the state parameters of the endoscope in the patient's tissue cavity according to the positioning and navigation signal obtained by the positioning and navigation device, and to display the state parameters in the three-dimensional model; wherein the state parameters include position and direction.

[0012] In a possible embodiment, the magnetic signal transmitting and receiving device includes:

[0013] A magnetic signal transmitting device is arranged on the abdomen of the patient on the medical bed;

[0014] The magnetic signal receiving device is arranged in a platform device above the abdomen of the patient, and the platform device is fixed on the medical bed through a rotatable arc-shaped support.

[0015] In a possible embodiment, the arc-shaped support member includes a first arc-shaped support sub-member and a second arc-shaped support sub-member rotatably connected to the first arc-shaped support sub-member.

[0016] In a possible embodiment, the magnetic signal transmitting device includes a plurality of magnetic signal transmitting sub-devices, and the plurality of magnetic signal transmitting sub-devices are disposed on a plurality of belly band strips of the belly enclosure.

[0017] In a possible embodiment, the positioning and navigation device includes a positioning sensor, a motion sensor, and a laser sensor.

[0018] In one possible embodiment, the endoscope system further includes a display device capable of displaying in a picture-in-picture manner; wherein the main screen area of ​​the display device displays a real-time image captured by the endoscope, and the picture-in-picture area of ​​the display device displays an image generated after displaying the status parameters in the three-dimensional model.

[0019] In a possible embodiment, the control device is also used to automatically adjust the brightness of the endoscope according to the number of target pixels when it is determined that each of the multiple real-time images captured by the endoscope has a target pixel number less than a preset number, wherein the target pixel refers to a pixel whose brightness information is less than the preset brightness information.

[0020] In one possible embodiment, the endoscope system includes a robotic arm for holding the endoscope.

[0021] (III) Beneficial effects

[0022] The beneficial effects of the present invention are:

[0023] The embodiment of the present application provides an endoscope system, including a magnetic signal transmitting and receiving device, a positioning and navigation device installed at the top of an endoscope capable of entering a patient's tissue cavity, and a control device connected to the magnetic signal transmitting and receiving device and the positioning and navigation device, and the control device determines the position and posture of a patient's key parts based on the magnetic field signal obtained by the magnetic signal transmitting and receiving device, and constructs a three-dimensional model of the patient's key parts according to the position and posture of the patient's key parts, and determines the state parameters of the endoscope in the patient's tissue cavity according to the positioning and navigation signal obtained by the positioning and navigation device, and displays the state parameters in the three-dimensional model, wherein the state parameters include position and direction. Compared with the existing solution of only using a positioning sensor to determine the position of an endoscope in a patient's body, the present application determines the position and posture of a patient's key parts based on the magnetic field signal obtained by the magnetic signal transmitting and receiving device, and constructs a three-dimensional model of the patient's key parts according to the position and posture of the patient's key parts, thereby being able to establish an accurate three-dimensional model based on the patient's body shape, and then display the state parameters in the three-dimensional model based on the established accurate three-dimensional model, thereby being able to improve positioning accuracy.

[0024] In order to make the above-mentioned objectives, features and advantages to be achieved by the embodiments of the present application more obvious and understandable, the following specifically cites preferred embodiments and describes them in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments of the present application will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0026] Figure 1 A schematic structural diagram of an endoscope system provided in an embodiment of the present application is shown;

[0027] Figure 2 A schematic diagram of a patient lying on a medical bed provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0028] In order to better explain the present invention and facilitate understanding, the present invention is described in detail below through specific implementation modes in conjunction with the accompanying drawings.

[0029] In order to solve the problem of low positioning accuracy in the prior art, an embodiment of the present application provides an endoscope system, including a magnetic signal transmitting and receiving device, a positioning and navigation device installed at the top of an endoscope capable of entering a patient's tissue cavity, and a control device connected to the magnetic signal transmitting and receiving device and the positioning and navigation device, and the control device determines the position and posture of a patient's key parts based on the magnetic field signal obtained by the magnetic signal transmitting and receiving device, and constructs a three-dimensional model of the patient's key parts according to the position and posture of the patient's key parts, and determines the state parameters of the endoscope in the patient's tissue cavity according to the positioning and navigation signal obtained by the positioning and navigation device, and displays the state parameters in the three-dimensional model, wherein the state parameters include position and direction. Compared with the existing solution of only using a positioning sensor to determine the position of the endoscope in the patient's body, the present application determines the position and posture of the patient's key parts based on the magnetic field signal obtained by the magnetic signal transmitting and receiving device, and constructs a three-dimensional model of the patient's key parts according to the position and posture of the patient's key parts, so that an accurate three-dimensional model can be established based on the patient's body shape, and then on the basis of the established accurate three-dimensional model, the state parameters are displayed in the three-dimensional model, thereby improving the positioning accuracy.

[0030] In order to better understand the above technical solution, exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided to enable a clearer and more thorough understanding of the present invention and to fully convey the scope of the present invention to those skilled in the art.

[0031] See also Figure 1 , Figure 1 FIG. 2 shows a schematic diagram of the structure of an endoscope system provided in an embodiment of the present application. Figure 1 The endoscope system shown includes:

[0032] Magnetic signal transmitting and receiving device;

[0033] A positioning navigation device is installed on the top of an endoscope capable of entering the patient's tissue cavity;

[0034] The control device is connected to the magnetic signal transmitting and receiving device and the positioning and navigation device respectively. The control device is used to determine the position and posture of the patient's key parts based on the magnetic field signal obtained by the magnetic signal transmitting and receiving device, and to construct a three-dimensional model of the patient's key parts according to the position and posture of the patient's key parts, and to determine the state parameters of the endoscope in the patient's tissue cavity according to the positioning and navigation signal obtained by the positioning and navigation device, and to display the state parameters in the three-dimensional model; wherein the state parameters include position and direction. The patient's key part refers to the part of the tissue cavity that the endoscope enters. For example, the patient's key part is the abdomen, etc.

[0035] It should be noted here that, in order to maintain the stability of the endoscope, the endoscope system further includes a mechanical arm for clamping the endoscope.

[0036] It should be understood that the specific devices included in the magnetic signal transmitting and receiving device can be configured according to actual needs, and the embodiments of the present application are not limited thereto.

[0037] Alternatively, if Figure 2 As shown, the magnetic signal transmitting and receiving device includes: a magnetic signal transmitting device, which is arranged on the abdomen of a patient on a medical bed; a magnetic signal receiving device, which is arranged in a platform device above the abdomen of the patient, and the platform device is fixed to the medical bed through a rotatable arc-shaped support.

[0038] Further, see Figure 2 The arc-shaped support member includes a first arc-shaped support sub-member and a second arc-shaped support sub-member rotatably connected to the first arc-shaped support sub-member.

[0039] That is to say, the first arc-shaped supporting sub-component can move closer to or farther away from the second arc-shaped supporting sub-component in the direction toward the second arc-shaped supporting sub-component.

[0040] Furthermore, the magnetic signal transmitting device includes a plurality of magnetic signal transmitting sub-devices, and the plurality of magnetic signal transmitting sub-devices are arranged on a plurality of belly band strips of the belly enclosure.

[0041] For example, the abdominal enclosure includes a main body portion that can fit against the patient's back, and a plurality of abdominal bands that can be connected by Velcro or the like can be provided on both sides of the main body portion, and a magnetic signal transmitting sub-device can be provided on the abdominal bands.

[0042] It should be noted here that, considering that a tight belly band may cause deformation of internal organs and be unfavorable for surgery, when using the belly band, it only needs to fit the patient's surface, that is, the belly band is in a loose state, thereby avoiding the above situation.

[0043] In addition, in addition to the above-mentioned abdominal belt surrounding method, it can also be achieved by setting abdominal belts on both sides of the medical bed, etc., and the embodiments of the present application are not limited to this.

[0044] It should also be understood that the specific devices included in the positioning and navigation device can be configured according to actual needs, and the embodiments of the present application are not limited thereto.

[0045] Optionally, the positioning navigation device may include a positioning sensor for determining the position of the endoscope, a motion sensor for determining the posture and forward direction of the endoscope, and a laser sensor for determining the distance between the front end of the endoscope and the inner wall of the tissue cavity.

[0046] Continue to see Figure 1 The endoscope system includes a display device connected to a control device, and the control device can control the display device to display related images in a single-image display mode. For example, the control device can display images collected by the endoscope separately.

[0047] In addition, the display device can also display in a picture-in-picture manner. For example, the main screen area of ​​the display device displays a real-time picture collected by the endoscope, and the picture-in-picture area of ​​the display device displays a picture generated after displaying the state parameters in the three-dimensional model.

[0048] It should be noted here that during the picture-in-picture display process, the control device can also switch the main screen area and the picture-in-picture area, thereby switching the previous main screen area to the picture-in-picture area, and switching the previous picture-in-picture area to the main screen area.

[0049] In addition, considering that the image collected by the endoscope may not be clear, the present application can automatically adjust the brightness of the endoscope, specifically:

[0050] The control device is also used to automatically adjust the brightness of the endoscope according to the number of target pixels when it is determined that each of the multiple real-time images (or video images) captured by the endoscope has a target pixel number less than a preset number, wherein the target pixel refers to a pixel whose brightness information is less than the preset brightness information.

[0051] It should be understood that the specific number of multiple real-time images can be set according to actual needs, and the embodiments of the present application are not limited to this.

[0052] It should also be understood that the specific steps of automatically adjusting the brightness of the endoscope according to the number of target pixels can be set according to actual needs, and the embodiments of the present application are not limited to this.

[0053] For example, the ratio of the target pixel to all pixels in each picture is calculated, and the average of multiple ratios is calculated, and the target range where the average is located is determined. The target range is one of multiple ranges, and each range corresponds to a light adjustment information. Subsequently, the brightness of the endoscope is automatically adjusted based on the light adjustment information corresponding to the target range.

[0054] Therefore, with the aid of the above-mentioned technical scheme, an embodiment of the present application provides an endoscope system, comprising a magnetic signal transmitting and receiving device, a positioning and navigation device installed at the top of an endoscope capable of entering a patient's tissue cavity, and a control device connected to the magnetic signal transmitting and receiving device and the positioning and navigation device, and the control device determines the position and posture of the patient's key parts based on the magnetic field signal obtained by the magnetic signal transmitting and receiving device, and constructs a three-dimensional model of the patient's key parts according to the position and posture of the patient's key parts, and determines the state parameters of the endoscope in the patient's tissue cavity according to the positioning and navigation signal obtained by the positioning and navigation device, and displays the state parameters in the three-dimensional model. State parameters, wherein the state parameters include position and direction. Compared with the existing solution of only using positioning sensors to determine the position of the endoscope in the patient's body (i.e., the existing solution has a relatively single sensor and does not establish a three-dimensional model that matches the patient's body shape based on the patient's body shape, etc.), the present application determines the position and posture of the patient's key parts based on the magnetic field signal obtained by the magnetic signal transmitting and receiving device, and constructs a three-dimensional model of the patient's key parts according to the position and posture of the patient's key parts, so that an accurate three-dimensional model can be established based on the patient's body shape, and then, based on the established accurate three-dimensional model, the state parameters are displayed in the three-dimensional model, thereby improving the positioning accuracy.

[0055] It should be understood that the above-mentioned endoscope system is only exemplary, and those skilled in the art may make various modifications to the endoscope system according to actual needs, and the modified scheme also falls within the protection scope of the present application.

[0056] It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as methods, systems or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0057] The present invention is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems) and computer program products according to the embodiments of the present invention. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions.

[0058] It should be noted that in the claims, any reference numerals placed between brackets shall not be construed as limiting the claims. The word "comprising" does not exclude the presence of components or steps not listed in the claims. The word "a" or "an" preceding a component does not exclude the presence of a plurality of such components. The invention may be implemented by means of hardware comprising several different components and by means of a suitably programmed computer. In the claims enumerating several means, several of these means may be embodied by the same hardware. The use of the words first, second, third, etc., is for convenience of expression only and does not indicate any order. These words may be understood as part of the component name.

[0059] In addition, it should be noted that, in the description of this specification, the description of the terms "one embodiment", "some embodiments", "embodiment", "example", "specific example" or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.

[0060] Although the preferred embodiments of the present invention have been described, those skilled in the art may make other changes and modifications to these embodiments after knowing the basic creative concept. Therefore, the claims should be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the present invention.

[0061] Obviously, those skilled in the art can make various modifications and variations to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention should also include these modifications and variations.

Claims

1. An endoscope system, characterized in that: include: Magnetic signal transmitting and receiving device; A positioning navigation device is installed on the top of an endoscope capable of entering the patient's tissue cavity; A control device is connected to the magnetic signal transmitting and receiving device and the positioning and navigation device, respectively. The control device is used to determine the position and posture of the patient's key parts based on the magnetic field signal obtained by the magnetic signal transmitting and receiving device, and to construct a three-dimensional model of the patient's key parts according to the position and posture of the patient's key parts, and to determine the state parameters of the endoscope in the patient's tissue cavity according to the positioning and navigation signal obtained by the positioning and navigation device, and to display the state parameters in the three-dimensional model; wherein the state parameters include position and direction.

2. The endoscope system according to claim 1, characterized in that: The magnetic signal transmitting and receiving device comprises: A magnetic signal transmitting device is arranged on the abdomen of the patient on the medical bed; The magnetic signal receiving device is arranged in the platform device above the abdomen of the patient, and the platform device is fixed on the medical bed through a rotatable arc-shaped support member.

3. The endoscope system according to claim 2, characterized in that: The arc-shaped support component includes a first arc-shaped support sub-component and a second arc-shaped support sub-component rotatably connected to the first arc-shaped support sub-component.

4. The endoscope system according to claim 3, characterized in that: The magnetic signal transmitting device includes a plurality of magnetic signal transmitting sub-devices, and the plurality of magnetic signal transmitting sub-devices are arranged on a plurality of belly band strips of the belly enclosure.

5. The endoscope system according to claim 1, characterized in that: The positioning and navigation device comprises a positioning sensor, a motion sensor and a laser sensor.

6. The endoscope system according to claim 1, characterized in that: The endoscope system further includes a display device capable of displaying in a picture-in-picture manner; wherein the main screen area of ​​the display device displays a real-time image captured by the endoscope, and the picture-in-picture area of ​​the display device displays an image generated after displaying the status parameters in the three-dimensional model.

7. The endoscope system according to claim 1, characterized in that: The control device is also used to automatically adjust the brightness of the endoscope according to the number of target pixels when it is determined that each of the multiple real-time images captured by the endoscope has a target pixel number less than a preset number, wherein the target pixel refers to a pixel whose brightness information is less than the preset brightness information.

8. The endoscope system according to claim 1, characterized in that: The endoscope system includes a robotic arm for holding the endoscope.

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